/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "servo.h"
#include "mpu.h"
#include "joystick.h"
#include "gps.h"
#include "storage.h"
#include "display.h"
#include "system.h"
#include "setup.h"
#include "blinker.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;

I2C_HandleTypeDef hi2c1;
I2C_HandleTypeDef hi2c2;
DMA_HandleTypeDef hdma_i2c1_rx;
DMA_HandleTypeDef hdma_i2c2_tx;

TIM_HandleTypeDef htim1;

UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

static void MX_GPIO_Init(void);

static void MX_DMA_Init(void);

static void MX_I2C1_Init(void);

static void MX_TIM1_Init(void);

static void MX_ADC1_Init(void);

static void MX_USART2_UART_Init(void);

static void MX_I2C2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int main(void) __attribute__((noreturn));
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void) {
	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

	/* MCU Configuration--------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* Configure the system clock */
	SystemClock_Config();

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_DMA_Init();
	MX_I2C1_Init();
	MX_TIM1_Init();
	MX_ADC1_Init();
	MX_USB_DEVICE_Init();
	MX_USART2_UART_Init();
	MX_I2C2_Init();
	/* USER CODE BEGIN 2 */
	system_clear_module_status();
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);
	blinker_init(GPIOC, GPIO_PIN_13);
	display_init(&hi2c2);
	storage_init(&hi2c2);
	pwm_init(&htim1);
	mpu_init(&hi2c1);
	gps_init(&huart2, &hdma_usart2_rx);
	joystick_init(&hadc1);
	system_setup();
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1) {
		system_tick();
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
	}
	/* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void) {
	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
	RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

	/** Initializes the RCC Oscillators according to the specified parameters
	* in the RCC_OscInitTypeDef structure.
	*/
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
	RCC_OscInitStruct.HSEState = RCC_HSE_ON;
	RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
	RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
		Error_Handler();
	}
	/** Initializes the CPU, AHB and APB buses clocks
	*/
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
								  | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
		Error_Handler();
	}
	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC | RCC_PERIPHCLK_USB;
	PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
	PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
		Error_Handler();
	}
}

/**
  * @brief ADC1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC1_Init(void) {

	/* USER CODE BEGIN ADC1_Init 0 */

	/* USER CODE END ADC1_Init 0 */

	ADC_ChannelConfTypeDef sConfig = {0};

	/* USER CODE BEGIN ADC1_Init 1 */

	/* USER CODE END ADC1_Init 1 */
	/** Common config
	*/
	hadc1.Instance = ADC1;
	hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
	hadc1.Init.ContinuousConvMode = ENABLE;
	hadc1.Init.DiscontinuousConvMode = DISABLE;
	hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
	hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
	hadc1.Init.NbrOfConversion = 2;
	if (HAL_ADC_Init(&hadc1) != HAL_OK) {
		Error_Handler();
	}
	/** Configure Regular Channel
	*/
	sConfig.Channel = ADC_CHANNEL_0;
	sConfig.Rank = ADC_REGULAR_RANK_1;
	sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
	if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
		Error_Handler();
	}
	/** Configure Regular Channel
	*/
	sConfig.Channel = ADC_CHANNEL_1;
	sConfig.Rank = ADC_REGULAR_RANK_2;
	if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN ADC1_Init 2 */

	/* USER CODE END ADC1_Init 2 */

}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void) {

	/* USER CODE BEGIN I2C1_Init 0 */

	/* USER CODE END I2C1_Init 0 */

	/* USER CODE BEGIN I2C1_Init 1 */

	/* USER CODE END I2C1_Init 1 */
	hi2c1.Instance = I2C1;
	hi2c1.Init.ClockSpeed = 100000;
	hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
	hi2c1.Init.OwnAddress1 = 0;
	hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
	hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
	hi2c1.Init.OwnAddress2 = 0;
	hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
	hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
	if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN I2C1_Init 2 */

	/* USER CODE END I2C1_Init 2 */

}

/**
  * @brief I2C2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C2_Init(void) {

	/* USER CODE BEGIN I2C2_Init 0 */

	/* USER CODE END I2C2_Init 0 */

	/* USER CODE BEGIN I2C2_Init 1 */

	/* USER CODE END I2C2_Init 1 */
	hi2c2.Instance = I2C2;
	hi2c2.Init.ClockSpeed = 400000;
	hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
	hi2c2.Init.OwnAddress1 = 0;
	hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
	hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
	hi2c2.Init.OwnAddress2 = 0;
	hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
	hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
	if (HAL_I2C_Init(&hi2c2) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN I2C2_Init 2 */

	/* USER CODE END I2C2_Init 2 */

}

/**
  * @brief TIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM1_Init(void) {

	/* USER CODE BEGIN TIM1_Init 0 */

	/* USER CODE END TIM1_Init 0 */

	TIM_ClockConfigTypeDef sClockSourceConfig = {0};
	TIM_MasterConfigTypeDef sMasterConfig = {0};
	TIM_OC_InitTypeDef sConfigOC = {0};
	TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

	/* USER CODE BEGIN TIM1_Init 1 */

	/* USER CODE END TIM1_Init 1 */
	htim1.Instance = TIM1;
	htim1.Init.Prescaler = 71;
	htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
	htim1.Init.Period = 19999;
	htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
	htim1.Init.RepetitionCounter = 0;
	htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
	if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
		Error_Handler();
	}
	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
	if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) {
		Error_Handler();
	}
	if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) {
		Error_Handler();
	}
	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
	if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) {
		Error_Handler();
	}
	sConfigOC.OCMode = TIM_OCMODE_PWM1;
	sConfigOC.Pulse = 199;
	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
	sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
	sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
	sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
	sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
	if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
		Error_Handler();
	}
	if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) {
		Error_Handler();
	}
	sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
	sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
	sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
	sBreakDeadTimeConfig.DeadTime = 0;
	sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
	sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
	sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
	if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN TIM1_Init 2 */

	/* USER CODE END TIM1_Init 2 */
	HAL_TIM_MspPostInit(&htim1);

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void) {

	/* USER CODE BEGIN USART2_Init 0 */

	/* USER CODE END USART2_Init 0 */

	/* USER CODE BEGIN USART2_Init 1 */

	/* USER CODE END USART2_Init 1 */
	huart2.Instance = USART2;
	huart2.Init.BaudRate = 38400;
	huart2.Init.WordLength = UART_WORDLENGTH_8B;
	huart2.Init.StopBits = UART_STOPBITS_1;
	huart2.Init.Parity = UART_PARITY_NONE;
	huart2.Init.Mode = UART_MODE_TX_RX;
	huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart2.Init.OverSampling = UART_OVERSAMPLING_16;
	if (HAL_UART_Init(&huart2) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN USART2_Init 2 */
	__HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE);
	/* USER CODE END USART2_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void) {

	/* DMA controller clock enable */
	__HAL_RCC_DMA1_CLK_ENABLE();

	/* DMA interrupt init */
	/* DMA1_Channel1_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
	/* DMA1_Channel4_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
	/* DMA1_Channel6_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
	/* DMA1_Channel7_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void) {
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	/* GPIO Ports Clock Enable */
	__HAL_RCC_GPIOC_CLK_ENABLE();
	__HAL_RCC_GPIOD_CLK_ENABLE();
	__HAL_RCC_GPIOA_CLK_ENABLE();
	__HAL_RCC_GPIOB_CLK_ENABLE();

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);

	/*Configure GPIO pin : PC13 */
	GPIO_InitStruct.Pin = GPIO_PIN_13;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);

	GPIO_InitStruct.Pin = GPIO_PIN_9;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void) {
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */

	/* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
	 tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
